RANGE–Robust autonomous navigation in GPS‐denied environments

This paper addresses the problem of autonomous navigation of a micro air vehicle (MAV) in GPS‐denied environments. We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range finder sensor, to autonomously explore and map unstructured and unknown environments. The key challenge for enabling GPS‐denied flight of a MAV is that the system must be able to estimate its position and velocity by sensing unknown environmental structure with sufficient accuracy and low enough latency to stably control the vehicle. Our solution overcomes this challenge in the face of MAV payload limitations imposed on sensing, computational, and communication resources. We first analyze the requirements to achieve fully autonomous quadrotor helicopter flight in GPS‐denied areas, highlighting the differences between ground and air robots that make it difficult to use algorithms developed for ground robots. We report on experiments that validate our solutions to key challenges, namely a multilevel sensing and control hierarchy that incorporates a high‐speed laser scan‐matching algorithm, data fusion filter, high‐level simultaneous localization and mapping, and a goal‐directed exploration module. These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large‐scale unknown environments, both indoors and in the urban canyon. The system was further validated in the field by our winning entry in the 2009 International Aerial Robotics Competition, which required the quadrotor to autonomously enter a hazardous unknown environment through a window, explore the indoor structure without GPS, and search for a visual target. © 2011 Wiley Periodicals, Inc.     

Micropatterning of sulfonated polyaniline using a soft lithography based lift-off process

A combination of soft lithography and lift-off processing is presented for the fabrication of sulfonated polyaniline (SPAN) microstructures. A soft lithography based micromolding process was used to pattern sacrificial layers using a thermoplastic polymer. SPAN was then polymerized in situ to coat the patterned substrate. The sacrificial layer was removed by lift-off in an organic solvent, leaving the patterned SPAN on the substrate. This process was performed on several rigid and flexible substrates including glass, silicon, and polyimide. The film thickness and roughness were measured as a function of reaction time using atomic force microscopy. Patterns were also imaged using scanning electron microscopy. This process provides a cost effective and versatile method of patterning SPAN and has potential applications in a number of conducting polymer devices.     

Bug localization using latent Dirichlet allocation

ContextSome recent static techniques for automatic bug localization have been built around modern information retrieval (IR) models such as latent semantic indexing (LSI). Latent Dirichlet allocation (LDA) is a generative statistical model that has significant advantages, in modularity and extensibility, over both LSI and probabilistic LSI (pLSI). Moreover, LDA has been shown effective in topic model based information retrieval. In this paper, we present a static LDA-based technique for automatic bug localization and evaluate its effectiveness.ObjectiveWe evaluate the accuracy and scalability of the LDA-based technique and investigate whether it is suitable for use with open-source software systems of varying size, including those developed using agile methods.MethodWe present five case studies designed to determine the accuracy and scalability of the LDA-based technique, as well as its relationships to software system size and to source code stability. The studies examine over 300 bugs across more than 25 iterations of three software systems.ResultsThe results of the studies show that the LDA-based technique maintains sufficient accuracy across all bugs in a single iteration of a software system and is scalable to a large number of bugs across multiple revisions of two software systems. The results of the studies also indicate that the accuracy of the LDA-based technique is not affected by the size of the subject software system or by the stability of its source code base.ConclusionWe conclude that an effective static technique for automatic bug localization can be built around LDA. We also conclude that there is no significant relationship between the accuracy of the LDA-based technique and the size of the subject software system or the stability of its source code base. Thus, the LDA-based technique is widely applicable.     

A rapid computational filter for predicting the rate of human renal clearance

In silico models that predict the rate of human renal clearance for a diverse set of drugs, that exhibit both active secretion and net re-absorption, have been produced using three statistical approaches. Partial Least Squares (PLS) and Random Forests (RF) have been used to produce continuous models whereas Classification And Regression Trees (CART) has only been used for a classification model. The best models generated from either PLS or RF produce significant models that can predict acids/zwitterions, bases and neutrals with approximate average fold errors of 3, 3 and 4, respectively, for an independent test set that covers oral drug-like property space. These models contain additional information on top of any influence arising from plasma protein binding on the rate of renal clearance. Classification And Regression Trees (CART) has been used to generate a classification tree leading to a simple set of Renal Clearance Rules (RCR) that can be applied to man. The rules are influenced by lipophilicity and ion class and can correctly predict 60% of an independent test set. These percentages increase to 71% and 79% for drugs with renal clearances of < 0.1 ml/min/kg and > 1 ml/min/kg, respectively. As far as the authors are aware these are the first set of models to appear in the literature that predict the rate of human renal clearance and can be used to manipulate molecular properties leading to new drugs that are less likely to fail due to renal clearance.     

A silicone-based microfluidic chip grafted with carboxyl functionalized hyperbranched polyglycerols for selective protein capture

A poly(dimethylsiloxane) (PDMS)-based functional microfluidic device containing a charged matrix of PDMS pillar arrays grafted with hyperbranched polyglycerols (HPGs) was developed. Samples of PDMS were modified with allylamine plasma to form amine groups on the surface prior to the covalent grafting of succinimdyl ester-functionalized HPGs. The anionic functionality of the PDMS channel matrices was developed by altering the number of carboxyl groups present on the HPGs. The grafting of HPGs onto PDMS plates was investigated via contact angle measurement and attenuated total reflectance-Fourier transform infrared spectroscopy (ATR-FTIR), while the grafting of the inside channel was investigated by electroosmotic flow (EOF) measurements. The charge density on grafted HPG was optimized to minimize the nonspecific protein adsorption and increase the selective capture of positively charged proteins. A proof-of-concept device was fabricated on PDMS and demonstrated that the device selectively captures positively charged protein (avidin) from a mixture of bovine serum albumin (BSA)-avidin at pH 7.4 in phosphate buffered saline (PBS). In order to increase the capture efficiency of the proteins in this PDMS-based device, pillar arrays have been fabricated within the channel. As a demonstration, the new device separated two proteins with an avidin capture efficiency of 100 ± 2.95% per 3 min from a 0.02 mg/ml protein solution (avidin:BSA wt ratio: 1:1). This new microfluidic-based device shows a great deal of promise as a tool for protein capture and analysis.     

iLogDemons: A Demons-Based Registration Algorithm for Tracking Incompressible Elastic Biological Tissues

Tracking soft tissues in medical images using non-linear image registration algorithms requires methods that are fast and provide spatial transformations consistent with the biological characteristics of the tissues. LogDemons algorithm is a fast non-linear registration method that computes diffeomorphic transformations parameterised by stationary velocity fields. Although computationally efficient, its use for tissue tracking has been limited because of its ad-hoc Gaussian regularisation, which hampers the implementation of more biologically motivated regularisations. In this work, we improve the logDemons by integrating elasticity and incompressibility for soft-tissue tracking. To that end, a mathematical justification of demons Gaussian regularisation is proposed. Building on this result, we replace the Gaussian smoothing by an efficient elastic-like regulariser based on isotropic differential quadratic forms of vector fields. The registration energy functional is finally minimised under the divergence-free constraint to get incompressible deformations. As the elastic regulariser and the constraint are linear, the method remains computationally tractable and easy to implement. Tests on synthetic incompressible deformations showed that our approach outperforms the original logDemons in terms of elastic incompressible deformation recovery without reducing the image matching accuracy. As an application, we applied the proposed algorithm to estimate 3D myocardium strain on clinical cine MRI of two adult patients. Results showed that incompressibility constraint improves the cardiac motion recovery when compared to the ground truth provided by 3D tagged MRI.     

An assessment of photosynthetic light use efficiency from space: Modeling the atmospheric and directional impacts on PRI reflectance

Estimation of photosynthetic light use efficiency (ε) from satellite observations is an important component of climate change research. The photochemical reflectance index, a narrow waveband index based on the reflectance at 531 and 570 nm, allows sampling of the photosynthetic activity of leaves; upscaling of these measurements to landscape and global scales, however, remains challenging. Only a few studies have used spaceborne observations of PRI so far, and research has largely focused on the MODIS sensor. Its daily global coverage and the capacity to detect a narrow reflectance band at 531 nm make it the best available choice for sensing ε from space. Previous results however, have identified a number of key issues with MODIS-based observations of PRI. First, the differences between the footprint of eddy covariance (EC) measurements and the MODIS footprint, which is determined by the sensor's observation geometry make a direct comparison between both data sources challenging and second, the PRI reflectance bands are affected by atmospheric scattering effects confounding the existing physiological signal. In this study we introduce a new approach for upscaling EC based ε measurements to MODIS. First, EC-measured ε values were “translated” into a tower-level optical PRI signal using AMSPEC, an automated multi-angular, tower-based spectroradiometer instrument. AMSPEC enabled us to adjust tower-measured PRI values to the individual viewing geometry of each MODIS overpass. Second, MODIS data were atmospherically corrected using a Multi-Angle Implementation of Atmospheric Correction (MAIAC) algorithm, which uses a time series approach and an image-based rather than pixel-based processing for simultaneous retrievals of atmospheric aerosol and surface bidirectional reflectance (BRDF). Using this approach, we found a strong relationship between tower-based and spaceborne reflectance measurements (r² = 0.74, p < 0.01) throughout the vegetation period of 2006. Swath (non-gridded) observations yielded stronger correlations than gridded data (r² = 0.58, p < 0.01) both of which included forward and backscatter observations. Spaceborne PRI values were strongly related to canopy shadow fractions and varied with different levels of ε. We conclude that MAIAC-corrected MODIS observations were able to track the site-level physiological changes from space throughout the observation period.     

Evaluating error associated with lidar-derived DEM interpolation

Light detection and ranging (lidar) technology is capable of precisely measuring a variety of vegetation metrics, the estimates of which are usually based on relative heights above a digital elevation model (DEM). As a result, the development of these elevation models is a critical step when processing lidar observations. A number of different algorithms exist to interpolate lidar ground hits into a terrain surface. We tested seven interpolation routines, using small footprint lidar data, collected over a range of vegetation classes on Vancouver Island, British Columbia, Canada. The lidar data were randomly subsetted into a prediction dataset and a validation dataset. A suite of DEMs were then generated using linear, quintic, natural neighbour, regularized spline, spline with tension, a finite difference approach (ANUDEM), and inverse distance weighted interpolation routines, at spatial resolutions of 0.5, 1.0 and 1.5 m. In order to examine the effects of terrain and ground cover on interpolation accuracies, the study area was stratified by terrain slope, vegetation structural class, lidar ground return density, and normalized difference vegetation indices (NDVI) derived from Quickbird and Landsat7 ETM+ imagery. The root mean square (RMS) and mean absolute errors of the residuals between the surfaces and the validation points indicated that the 0.5 m DEMs were the most accurate. Of the tested approaches, the regularized spline and IDW algorithms produced the most extreme outliers, sometimes in excess of ±6 m in sloping terrain. Overall, the natural neighbour algorithm provided the best results with a minimum of effort. Finally, a method to create prediction uncertainty maps using classification and regression tree (CART) analysis is proposed.     

Characterising and exploiting workloads of highly interactive video-on-demand

This paper presents a detailed characterisation of user behaviour for a series of interactive video experiments over a 12 month period, in which we served popular sporting and musical content. In addition to generic VCR-like features, our custom-built video-on-demand application provides advanced interactivity features such as bookmarking. The dramatic impact of such functionality on how users consume content is studied and analysed. We discuss in detail how this user behaviour can be exploited by content distributors to improve user experience. Specifically, we study how simple dynamic bookmark placement and interactivity-aware content pre-fetching and replication can reduce the impact of highly interactive media on CDN performance.